EP0605050A3 - ContrÔleur de mouvement des machines employant un modèle adaptif cinématique. - Google Patents

ContrÔleur de mouvement des machines employant un modèle adaptif cinématique. Download PDF

Info

Publication number
EP0605050A3
EP0605050A3 EP93203649A EP93203649A EP0605050A3 EP 0605050 A3 EP0605050 A3 EP 0605050A3 EP 93203649 A EP93203649 A EP 93203649A EP 93203649 A EP93203649 A EP 93203649A EP 0605050 A3 EP0605050 A3 EP 0605050A3
Authority
EP
European Patent Office
Prior art keywords
motion controller
kinematic model
machine motion
controller employing
employing adaptive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP93203649A
Other languages
German (de)
English (en)
Other versions
EP0605050A2 (fr
Inventor
Roy Featherstone
Alexander Cameron
Michael Whelan
Karen Trovato
Umamaheswari Ganapathy
Frank Guida
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics NV, Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Publication of EP0605050A2 publication Critical patent/EP0605050A2/fr
Publication of EP0605050A3 publication Critical patent/EP0605050A3/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/16—Controlling the angular speed of one shaft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39206—Joint space position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39406—Obtain optimal parameters of model of system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39412—Diagnostic of robot, estimation of parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40124—During manipulator motion, sensor feedback to adapt model in memory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40527—Modeling, identification of link parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42152—Learn, self, auto tuning, calibrating, environment adaptation, repetition
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42156—Forward dynamics model fdm

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
EP93203649A 1992-12-28 1993-12-23 ContrÔleur de mouvement des machines employant un modèle adaptif cinématique. Withdrawn EP0605050A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US99797992A 1992-12-28 1992-12-28
US997979 1992-12-28

Publications (2)

Publication Number Publication Date
EP0605050A2 EP0605050A2 (fr) 1994-07-06
EP0605050A3 true EP0605050A3 (fr) 1997-02-26

Family

ID=25544622

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93203649A Withdrawn EP0605050A3 (fr) 1992-12-28 1993-12-23 ContrÔleur de mouvement des machines employant un modèle adaptif cinématique.

Country Status (3)

Country Link
EP (1) EP0605050A3 (fr)
JP (1) JPH06230812A (fr)
KR (1) KR940015733A (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001515236A (ja) 1997-09-04 2001-09-18 ダイナログ インコーポレイテッド ロボット検査システムを較正するための方法
DE19826395A1 (de) * 1998-06-12 1999-12-23 Amatec Gmbh Verfahren zum Erfassen und Kompensieren von kinematischen Veränderungen eines Roboters
FI123361B (fi) * 2007-10-01 2013-03-15 Sandvik Mining & Constr Oy Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi
DE102007060682B4 (de) * 2007-12-17 2015-08-20 Kuka Roboter Gmbh Verfahren und Vorrichtung zur modellbasierten Regelung eines Manipulators
FR2928387B1 (fr) * 2008-03-10 2012-11-16 Westline Procede et systeme de calibration automatique des engins de terrassement
DE102009054112A1 (de) * 2009-11-20 2011-05-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Planung und/oder Steuerung einer Roboterapplikation
DE102010031251A1 (de) * 2010-07-12 2012-01-12 Kuka Roboter Gmbh Roboterarm, Industrieroboter und Verfahren zum Erstellen eines mathematischen Robotermodells
JP5941083B2 (ja) 2014-03-12 2016-06-29 ファナック株式会社 外部環境との接触を検知するロボット制御装置
EP3530418A1 (fr) * 2018-02-21 2019-08-28 Siemens Aktiengesellschaft Procédé et appareil de détermination d'un déroulement de mouvements optimisé d'un dispositif robot
CN108638098B (zh) * 2018-04-25 2020-09-25 清华大学 全向交错摆动杆阵自适应机器人手装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4725965A (en) * 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
EP0269878A2 (fr) * 1986-10-31 1988-06-08 The Pratt & Whitney Company, Inc. Méthode pour la génération de données de commande d'axes pour la commande d'une rectifieuse ou similaire et un système à cet effet

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4725965A (en) * 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
EP0269878A2 (fr) * 1986-10-31 1988-06-08 The Pratt & Whitney Company, Inc. Méthode pour la génération de données de commande d'axes pour la commande d'une rectifieuse ou similaire et un système à cet effet

Also Published As

Publication number Publication date
EP0605050A2 (fr) 1994-07-06
KR940015733A (ko) 1994-07-21
JPH06230812A (ja) 1994-08-19

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